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<div class="title">plane_refinement_comparator.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2012, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
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<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id: extract_clusters.h 5027 2012-03-12 03:10:45Z rusu $</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_SEGMENTATION_PLANAR_REFINEMENT_COMPARATOR_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_SEGMENTATION_PLANAR_REFINEMENT_COMPARATOR_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/boost.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/segmentation/plane_coefficient_comparator.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;{</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>NT, <span class="keyword">typename</span> Po<span class="keywordtype">int</span>LT&gt;</div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_refinement_comparator.html">   55</a></span>&#160;  <span class="keyword">class </span><a class="code" href="classpcl_1_1_plane_refinement_comparator.html">PlaneRefinementComparator</a>: <span class="keyword">public</span> <a class="code" href="classpcl_1_1_plane_coefficient_comparator.html">PlaneCoefficientComparator</a>&lt;PointT, PointNT&gt;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">Comparator&lt;PointT&gt;::PointCloud</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> Comparator&lt;PointT&gt;::PointCloudConstPtr PointCloudConstPtr;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;      </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointNT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudN</a>;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudN::Ptr PointCloudNPtr;</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudN::ConstPtr PointCloudNConstPtr;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointLT&gt;</a> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloudL</a>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudL::Ptr PointCloudLPtr;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;      <span class="keyword">typedef</span> <span class="keyword">typename</span> PointCloudL::ConstPtr PointCloudLConstPtr;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160; </div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;PlaneRefinementComparator&lt;PointT, PointNT, PointLT&gt; &gt; Ptr;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;      <span class="keyword">typedef</span> boost::shared_ptr&lt;const PlaneRefinementComparator&lt;PointT, PointNT, PointLT&gt; &gt; ConstPtr;</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_plane_coefficient_comparator.html">pcl::PlaneCoefficientComparator&lt;PointT, PointNT&gt;::input_</a>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_plane_coefficient_comparator.html">pcl::PlaneCoefficientComparator&lt;PointT, PointNT&gt;::normals_</a>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_plane_coefficient_comparator.html">pcl::PlaneCoefficientComparator&lt;PointT, PointNT&gt;::distance_threshold_</a>;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_plane_coefficient_comparator.html">pcl::PlaneCoefficientComparator&lt;PointT, PointNT&gt;::plane_coeff_d_</a>;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_refinement_comparator.html#a6592aafd3133c0e4a6ce55ea8971ae3d">   79</a></span>&#160;     <a class="code" href="classpcl_1_1_plane_refinement_comparator.html#a6592aafd3133c0e4a6ce55ea8971ae3d">PlaneRefinementComparator</a> ()</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;        : models_ ()</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;        , labels_ ()</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;        , refine_labels_ ()</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;        , label_to_model_ ()</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;        , depth_dependent_ (false)</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;      {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;      }</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_refinement_comparator.html#affb278c4a8ab5ba245e1dd65560f7032">   92</a></span>&#160;      <a class="code" href="classpcl_1_1_plane_refinement_comparator.html#affb278c4a8ab5ba245e1dd65560f7032">PlaneRefinementComparator</a> (boost::shared_ptr&lt;std::vector&lt;pcl::ModelCoefficients&gt; &gt;&amp; models,</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;                                 boost::shared_ptr&lt;std::vector&lt;bool&gt; &gt;&amp; refine_labels)</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;        : models_ (models)</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;        , labels_ ()</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;        , refine_labels_ (refine_labels)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;        , label_to_model_ ()</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;        , depth_dependent_ (false)</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      {</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      }</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160; </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      <span class="keyword">virtual</span></div>
<div class="line"><a name="l00104"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_refinement_comparator.html#ad30f21fcada3d34394cfcef40f0ace01">  104</a></span>&#160;      <a class="code" href="classpcl_1_1_plane_refinement_comparator.html#ad30f21fcada3d34394cfcef40f0ace01">~PlaneRefinementComparator</a> ()</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;      {</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;      }</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00112"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_refinement_comparator.html#a95dc4eef9000d9f62b6f537d10ce266f">  112</a></span>&#160;      <a class="code" href="classpcl_1_1_plane_refinement_comparator.html#a95dc4eef9000d9f62b6f537d10ce266f">setModelCoefficients</a> (boost::shared_ptr&lt;std::vector&lt;pcl::ModelCoefficients&gt; &gt;&amp; models)</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;      {</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        models_ = models;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      }</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00121"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_refinement_comparator.html#a0aaaf4e5f510177dc1b96a2ac545687e">  121</a></span>&#160;      <a class="code" href="classpcl_1_1_plane_refinement_comparator.html#a0aaaf4e5f510177dc1b96a2ac545687e">setModelCoefficients</a> (std::vector&lt;pcl::ModelCoefficients&gt;&amp; models)</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;      {</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        models_ = boost::make_shared&lt;std::vector&lt;pcl::ModelCoefficients&gt; &gt;(models);</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      }</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160; </div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_refinement_comparator.html#aab5bed8f635f34945c5886e069656df5">  130</a></span>&#160;      <a class="code" href="classpcl_1_1_plane_refinement_comparator.html#aab5bed8f635f34945c5886e069656df5">setRefineLabels</a> (boost::shared_ptr&lt;std::vector&lt;bool&gt; &gt;&amp; refine_labels)</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160;      {</div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;        refine_labels_ = refine_labels;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      </div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160;      <span class="keywordtype">void</span></div>
<div class="line"><a name="l00139"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_refinement_comparator.html#aa5a53e990c5e903773ba4b15246cedde">  139</a></span>&#160;      <a class="code" href="classpcl_1_1_plane_refinement_comparator.html#aa5a53e990c5e903773ba4b15246cedde">setRefineLabels</a> (std::vector&lt;bool&gt;&amp; refine_labels)</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      {</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        refine_labels_ = boost::make_shared&lt;std::vector&lt;bool&gt; &gt;(refine_labels);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;      }</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_refinement_comparator.html#a0a443d9116dc97f51a71de03eab161ed">  148</a></span>&#160;      <a class="code" href="classpcl_1_1_plane_refinement_comparator.html#a0a443d9116dc97f51a71de03eab161ed">setLabelToModel</a> (boost::shared_ptr&lt;std::vector&lt;int&gt; &gt;&amp; label_to_model)</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;      {</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;        label_to_model_ = label_to_model;</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      }</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00157"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_refinement_comparator.html#a7c9426d5180228dd113d0507301fc7c4">  157</a></span>&#160;      <a class="code" href="classpcl_1_1_plane_refinement_comparator.html#a7c9426d5180228dd113d0507301fc7c4">setLabelToModel</a> (std::vector&lt;int&gt;&amp; label_to_model)</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      {</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        label_to_model_ = boost::make_shared&lt;std::vector&lt;int&gt; &gt;(label_to_model);</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;      }</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keyword">inline</span> boost::shared_ptr&lt;std::vector&lt;pcl::ModelCoefficients&gt; &gt;</div>
<div class="line"><a name="l00164"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_refinement_comparator.html#a8a370cb931a9adff98a9082451ec1fd0">  164</a></span>&#160;      <a class="code" href="classpcl_1_1_plane_refinement_comparator.html#a8a370cb931a9adff98a9082451ec1fd0">getModelCoefficients</a> ()<span class="keyword"> const</span></div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;        <span class="keywordflow">return</span> (models_);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;      }</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;      <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00173"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_refinement_comparator.html#ad23ec78a845fefb3cad6f5f5c7b2b80b">  173</a></span>&#160;      <a class="code" href="classpcl_1_1_plane_refinement_comparator.html#ad23ec78a845fefb3cad6f5f5c7b2b80b">setLabels</a> (PointCloudLPtr&amp; labels)</div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;      {</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        labels_ = labels;</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;      }</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;      <span class="keyword">virtual</span> <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"><a class="line" href="classpcl_1_1_plane_refinement_comparator.html#a1543a17572099b0156645c97ee9dc199">  183</a></span>&#160;      <a class="code" href="classpcl_1_1_plane_refinement_comparator.html#a1543a17572099b0156645c97ee9dc199">compare</a> (<span class="keywordtype">int</span> idx1, <span class="keywordtype">int</span> idx2)<span class="keyword"> const</span></div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;<span class="keyword">      </span>{</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;        <span class="keywordtype">int</span> current_label = labels_-&gt;points[idx1].label;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;        <span class="keywordtype">int</span> next_label = labels_-&gt;points[idx2].label;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160; </div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;        <span class="keywordflow">if</span> (!((*refine_labels_)[current_label] &amp;&amp; !(*refine_labels_)[next_label]))</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;        </div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;        <span class="keyword">const</span> <a class="code" href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a>&amp; model_coeff = (*models_)[(*label_to_model_)[current_label]];</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;        </div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;        <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> pt = input_-&gt;points[idx2];</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;        <span class="keywordtype">double</span> ptp_dist = fabs (model_coeff.values[0] * pt.x + </div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;                                model_coeff.values[1] * pt.y + </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;                                model_coeff.values[2] * pt.z +</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;                                model_coeff.values[3]);</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        <span class="comment">// depth dependent</span></div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        <span class="keywordtype">float</span> threshold = distance_threshold_;</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <span class="keywordflow">if</span> (depth_dependent_)</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;        {</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;          <span class="comment">//Eigen::Vector4f origin = input_-&gt;sensor_origin_;</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;          Eigen::Vector3f vec = input_-&gt;points[idx1].getVector3fMap ();<span class="comment">// - origin.head&lt;3&gt; ();</span></div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;          </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;          <span class="keywordtype">float</span> z = vec.dot (z_axis_);</div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;          threshold *= z * z;</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        }</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;        </div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;        <span class="keywordflow">return</span> (ptp_dist &lt; threshold);</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      }</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;      boost::shared_ptr&lt;std::vector&lt;pcl::ModelCoefficients&gt; &gt; models_;</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      PointCloudLPtr labels_;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      boost::shared_ptr&lt;std::vector&lt;bool&gt; &gt; refine_labels_;</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      boost::shared_ptr&lt;std::vector&lt;int&gt; &gt; label_to_model_;</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      <span class="keywordtype">bool</span> depth_dependent_;</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      <span class="keyword">using</span> <a class="code" href="classpcl_1_1_plane_coefficient_comparator.html">PlaneCoefficientComparator&lt;PointT, PointNT&gt;::z_axis_</a>;</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;  };</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;}</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160; </div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// PCL_SEGMENTATION_PLANE_COEFFICIENT_COMPARATOR_H_</span></div>
<div class="ttc" id="aclasspcl_1_1_plane_coefficient_comparator_html"><div class="ttname"><a href="classpcl_1_1_plane_coefficient_comparator.html">pcl::PlaneCoefficientComparator</a></div><div class="ttdoc">PlaneCoefficientComparator is a Comparator that operates on plane coefficients, for use in planar seg...</div><div class="ttdef"><b>Definition:</b> plane_coefficient_comparator.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_refinement_comparator_html"><div class="ttname"><a href="classpcl_1_1_plane_refinement_comparator.html">pcl::PlaneRefinementComparator</a></div><div class="ttdoc">PlaneRefinementComparator is a Comparator that operates on plane coefficients, for use in planar segm...</div><div class="ttdef"><b>Definition:</b> plane_refinement_comparator.h:56</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_refinement_comparator_html_a0a443d9116dc97f51a71de03eab161ed"><div class="ttname"><a href="classpcl_1_1_plane_refinement_comparator.html#a0a443d9116dc97f51a71de03eab161ed">pcl::PlaneRefinementComparator::setLabelToModel</a></div><div class="ttdeci">void setLabelToModel(boost::shared_ptr&lt; std::vector&lt; int &gt; &gt; &amp;label_to_model)</div><div class="ttdoc">A mapping from label to index in the vector of models, allowing the model coefficients of a label to ...</div><div class="ttdef"><b>Definition:</b> plane_refinement_comparator.h:148</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_refinement_comparator_html_a0aaaf4e5f510177dc1b96a2ac545687e"><div class="ttname"><a href="classpcl_1_1_plane_refinement_comparator.html#a0aaaf4e5f510177dc1b96a2ac545687e">pcl::PlaneRefinementComparator::setModelCoefficients</a></div><div class="ttdeci">void setModelCoefficients(std::vector&lt; pcl::ModelCoefficients &gt; &amp;models)</div><div class="ttdoc">Set the vector of model coefficients to which we will compare.</div><div class="ttdef"><b>Definition:</b> plane_refinement_comparator.h:121</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_refinement_comparator_html_a1543a17572099b0156645c97ee9dc199"><div class="ttname"><a href="classpcl_1_1_plane_refinement_comparator.html#a1543a17572099b0156645c97ee9dc199">pcl::PlaneRefinementComparator::compare</a></div><div class="ttdeci">virtual bool compare(int idx1, int idx2) const</div><div class="ttdoc">Compare two neighboring points</div><div class="ttdef"><b>Definition:</b> plane_refinement_comparator.h:183</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_refinement_comparator_html_a6592aafd3133c0e4a6ce55ea8971ae3d"><div class="ttname"><a href="classpcl_1_1_plane_refinement_comparator.html#a6592aafd3133c0e4a6ce55ea8971ae3d">pcl::PlaneRefinementComparator::PlaneRefinementComparator</a></div><div class="ttdeci">PlaneRefinementComparator()</div><div class="ttdoc">Empty constructor for PlaneCoefficientComparator.</div><div class="ttdef"><b>Definition:</b> plane_refinement_comparator.h:79</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_refinement_comparator_html_a7c9426d5180228dd113d0507301fc7c4"><div class="ttname"><a href="classpcl_1_1_plane_refinement_comparator.html#a7c9426d5180228dd113d0507301fc7c4">pcl::PlaneRefinementComparator::setLabelToModel</a></div><div class="ttdeci">void setLabelToModel(std::vector&lt; int &gt; &amp;label_to_model)</div><div class="ttdoc">A mapping from label to index in the vector of models, allowing the model coefficients of a label to ...</div><div class="ttdef"><b>Definition:</b> plane_refinement_comparator.h:157</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_refinement_comparator_html_a8a370cb931a9adff98a9082451ec1fd0"><div class="ttname"><a href="classpcl_1_1_plane_refinement_comparator.html#a8a370cb931a9adff98a9082451ec1fd0">pcl::PlaneRefinementComparator::getModelCoefficients</a></div><div class="ttdeci">boost::shared_ptr&lt; std::vector&lt; pcl::ModelCoefficients &gt; &gt; getModelCoefficients() const</div><div class="ttdoc">Get the vector of model coefficients to which we will compare.</div><div class="ttdef"><b>Definition:</b> plane_refinement_comparator.h:164</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_refinement_comparator_html_a95dc4eef9000d9f62b6f537d10ce266f"><div class="ttname"><a href="classpcl_1_1_plane_refinement_comparator.html#a95dc4eef9000d9f62b6f537d10ce266f">pcl::PlaneRefinementComparator::setModelCoefficients</a></div><div class="ttdeci">void setModelCoefficients(boost::shared_ptr&lt; std::vector&lt; pcl::ModelCoefficients &gt; &gt; &amp;models)</div><div class="ttdoc">Set the vector of model coefficients to which we will compare.</div><div class="ttdef"><b>Definition:</b> plane_refinement_comparator.h:112</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_refinement_comparator_html_aa5a53e990c5e903773ba4b15246cedde"><div class="ttname"><a href="classpcl_1_1_plane_refinement_comparator.html#aa5a53e990c5e903773ba4b15246cedde">pcl::PlaneRefinementComparator::setRefineLabels</a></div><div class="ttdeci">void setRefineLabels(std::vector&lt; bool &gt; &amp;refine_labels)</div><div class="ttdoc">Set which labels should be refined. This is a vector of bools 0-max_label, true if the label should b...</div><div class="ttdef"><b>Definition:</b> plane_refinement_comparator.h:139</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_refinement_comparator_html_aab5bed8f635f34945c5886e069656df5"><div class="ttname"><a href="classpcl_1_1_plane_refinement_comparator.html#aab5bed8f635f34945c5886e069656df5">pcl::PlaneRefinementComparator::setRefineLabels</a></div><div class="ttdeci">void setRefineLabels(boost::shared_ptr&lt; std::vector&lt; bool &gt; &gt; &amp;refine_labels)</div><div class="ttdoc">Set which labels should be refined. This is a vector of bools 0-max_label, true if the label should b...</div><div class="ttdef"><b>Definition:</b> plane_refinement_comparator.h:130</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_refinement_comparator_html_ad23ec78a845fefb3cad6f5f5c7b2b80b"><div class="ttname"><a href="classpcl_1_1_plane_refinement_comparator.html#ad23ec78a845fefb3cad6f5f5c7b2b80b">pcl::PlaneRefinementComparator::setLabels</a></div><div class="ttdeci">void setLabels(PointCloudLPtr &amp;labels)</div><div class="ttdoc">...</div><div class="ttdef"><b>Definition:</b> plane_refinement_comparator.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_refinement_comparator_html_ad30f21fcada3d34394cfcef40f0ace01"><div class="ttname"><a href="classpcl_1_1_plane_refinement_comparator.html#ad30f21fcada3d34394cfcef40f0ace01">pcl::PlaneRefinementComparator::~PlaneRefinementComparator</a></div><div class="ttdeci">virtual ~PlaneRefinementComparator()</div><div class="ttdoc">Destructor for PlaneCoefficientComparator.</div><div class="ttdef"><b>Definition:</b> plane_refinement_comparator.h:104</div></div>
<div class="ttc" id="aclasspcl_1_1_plane_refinement_comparator_html_affb278c4a8ab5ba245e1dd65560f7032"><div class="ttname"><a href="classpcl_1_1_plane_refinement_comparator.html#affb278c4a8ab5ba245e1dd65560f7032">pcl::PlaneRefinementComparator::PlaneRefinementComparator</a></div><div class="ttdeci">PlaneRefinementComparator(boost::shared_ptr&lt; std::vector&lt; pcl::ModelCoefficients &gt; &gt; &amp;models, boost::shared_ptr&lt; std::vector&lt; bool &gt; &gt; &amp;refine_labels)</div><div class="ttdoc">Empty constructor for PlaneCoefficientComparator.</div><div class="ttdef"><b>Definition:</b> plane_refinement_comparator.h:92</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="astructpcl_1_1_model_coefficients_html"><div class="ttname"><a href="structpcl_1_1_model_coefficients.html">pcl::ModelCoefficients</a></div><div class="ttdef"><b>Definition:</b> ModelCoefficients.h:13</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
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